Apparatus and method for notifying expected motion of vehicle

ABSTRACT

An apparatus and a method for method and an apparatus for notifying an expected motion of a vehicle are provided. The apparatus includes: a light projection module disposed on a body of the vehicle and operable to project a visual light pattern to an external environment in which the vehicle is driving; and a processor configured to: obtain trajectory information indicative of an expected motion of the vehicle; and generate, according to the trajectory information, and transmit to the light projection module a projection control signal for controlling the light projection module to project the visual light pattern onto a surface in the external environment such that the expected motion of the vehicle can be visually observed from the external environment.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of U.S. provisional patentapplication 62/661,657, filed Apr. 24, 2018, the disclosure of which isincorporated herein by reference in the entirety.

TECHNICAL FIELD

The present disclosure generally relates to automotive technology, moreparticularly, to an apparatus and a method for notifying an expectedmotion of a vehicle.

BACKGROUND

Autonomous driving is a relatively new technological field forautomotive industry. With autonomous driving, vehicles are capable ofsensing their environment and navigating without human operations.Autonomous cars use a variety of technologies to detect theirsurroundings, such as using radar, laser, GPS, odometry and computervision. Advanced control systems of Autonomous vehicles can interpretsensory data to identify appropriate navigation paths, as well asobstacles and relevant signages.

Although autonomous vehicles have already driven millions of miles onpublic roads, the road safety is still a main concern. Thus, there is aneed for further improvement.

SUMMARY

According to a first aspect of embodiments of the present disclosure, anapparatus for notifying an expected motion of a vehicle is provided. Theapparatus may include: a light projection module disposed on a body ofthe vehicle and operable to project a visual light pattern to anexternal environment in which the vehicle is driving; and a processorconfigured to: obtain trajectory information indicative of an expectedmotion of the vehicle; and generate, according to the trajectoryinformation, and transmit to the light projection module a projectioncontrol signal for controlling the light projection module to projectthe visual light pattern onto a surface in the external environment suchthat the expected motion of the vehicle can be visually observed fromthe external environment.

According to a second aspect of embodiments of the present disclosure, avehicle is provided. The vehicle may include: a body; a light projectionmodule disposed on the body of the vehicle and operable to project avisual light pattern onto an external environment in which the vehicleis driving; and a processor configured to: obtain trajectory informationindicative of an expected motion of the vehicle; and generate, accordingto the trajectory information, a projection control signal forcontrolling the light projection module to project the visual lightpattern onto a surface in the external environment such that theexpected motion of the vehicle can be visually observed from theexternal environment.

According to a third aspect of embodiments of the present disclosure, amethod for notifying an expected motion of a vehicle is provided. Themethod may include: obtaining trajectory information indicative of anexpected motion of the vehicle; and generating, according to thetrajectory information, and transmitting to the light projection modulea projection control signal for controlling a light projection module toproject a visual light pattern onto a surface in an external environmentin which the vehicle is driving such that the expected motion of thevehicle can be visually observed from the external environment.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory only,and are not restrictive of the invention. Further, the accompanyingdrawings, which are incorporated in and constitute a part of thisspecification, illustrate embodiments of the invention and together withthe description, serve to explain principles of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings referenced herein form a part of the specification.Features shown in the drawing illustrate only some embodiments of thedisclosure, and not of all embodiments of the disclosure, unless thedetailed description explicitly indicates otherwise, and readers of thespecification should not make implications to the contrary.

FIG. 1 illustrates a block diagram of an apparatus for notifying anexpected motion of a vehicle according to one embodiment of the presentdisclosure;

FIG. 2 illustrates a vehicle equipped with the apparatus of FIG. 1;

FIG. 3 illustrates a flow chart of a method for notifying an expectedmotion of a vehicle according to one embodiment of the presentdisclosure;

FIGS. 4 (a) and (b) illustrate examples of a visual light patternprojected onto a surface in the external environment of the vehicle;

FIG. 5 illustrates another example of the visual light pattern projectedonto a surface in the external environment of the vehicle;

FIG. 6 illustrates another example of the visual light pattern projectedonto a surface in the external environment of the vehicle;

FIG. 7 illustrates another example of the visual light pattern projectedonto a surface in the external environment of the vehicle; and

FIG. 8 (a)-(d) illustrate various examples of the visual light patternprojected onto a surface in the external environment of the vehicle.

The same reference numbers will be used throughout the drawings to referto the same or like parts.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following detailed description of exemplary embodiments of thedisclosure refers to the accompanying drawings that form a part of thedescription. The drawings illustrate specific exemplary embodiments inwhich the disclosure may be practiced. The detailed description,including the drawings, describes these embodiments in sufficient detailto enable those skilled in the art to practice the disclosure. Thoseskilled in the art may further utilize other embodiments of thedisclosure, and make logical, mechanical, and other changes withoutdeparting from the spirit or scope of the disclosure. Readers of thefollowing detailed description should, therefore, not interpret thedescription in a limiting sense, and only the appended claims define thescope of the embodiment of the disclosure.

In this application, the use of the singular includes the plural unlessspecifically stated otherwise. In this application, the use of “or”means “and/or” unless stated otherwise. Furthermore, the use of the term“including” as well as other forms such as “includes” and “included” isnot limiting. In addition, terms such as “element” or “component”encompass both elements and components comprising one unit, and elementsand components that comprise more than one subunit, unless specificallystated otherwise. Additionally, the section headings used herein are fororganizational purposes only, and are not to be construed as limitingthe subject matter described.

FIG. 1 illustrates a block diagram of an apparatus 100 according to anembodiment of the present disclosure. The apparatus 100 may be disposedon a vehicle for notifying people around of an expected motion of thevehicle. In some embodiments, the vehicle may be an autonomous vehicle.It could be appreciated that the apparatus 100 can also be disposed on aregular non-autonomous vehicle.

As depicted in FIG. 1, the apparatus 100 includes a memory 102, aprocessor 104, a light projection module 106, a function device 108 andan input and output (I/O) unit 110. The memory 102, the processor 104,the light projection module 106, the function device 108 and the I/Ounit 110 are directly or indirectly connected with each other for dataand signal transmission or exchange. For example, these components maybe electrically connected to each other via one or more communicationbuses or signal lines.

The apparatus 100 may include at least one program function module inform of software or firmware stored or embedded in the memory 102 andexecuted by the processor 104. The processor 104 is used for performingexecutable instructions and programs stored in the memory 102. Thememory 102 is used for storing various types of data of the apparatus100. The memory 102 may be an internal memory of the apparatus 100, or aremovable memory. For example, the memory 102 may include, but not belimited to, random access memory (RAM), read only memory (ROM),programmable read-only memory (PROM), erasable read only memory (EPROM),electrically erasable read only memory (EEPROM) and the like.

The processor 104 may be an integrated circuit chip with signal and dataprocessing capability. The processor 104 as described may be a generalpurpose processor, including a central processor (CPU), a networkprocessor (NP) and etc. The processor 104 can also be a digital signalprocessor (DSP), application specific integrated circuit (ASIC),Field-programmable gate array (FPGA) or other programmable logic device,discrete gate or transistor logic, discrete hardware components. Theprocessor 104 can execute or implement methods, steps and logic diagramsdisclosed in embodiments of the present disclosure. The processor 104may be a microprocessor or any conventional processor, etc.

The light projection module 106 may be disposed on a body of the vehicleand operable to project a visual light pattern to an externalenvironment in which the vehicle is driving. The visual light patterncan indicate expected motions to be taken by the vehicle. When projectedonto the external environment such as a ground, the visual light patterncan be observed by people around and thus the people can be well awareof the expected motions of the vehicle. In some embodiments, the lightprojection module 106 includes a light source and a mechanical member.The mechanical member can move to change a direction and/or focus of alight beam emitted from the light source. In this way, the light patternfrom the light projection module 106 can change accordingly. In someother embodiments, the light projection module 106 can also include apower adjusting member for adjusting a power of the light beam emittedfrom the light source.

In some embodiments, the light projection module 106 is a digital lightprocessing projector based on optical micro-electro-mechanicaltechnology that uses a digital micromirror device. In the digital lightprocessing projector, the light pattern or image is created bymicroscopically small mirrors laid out in a matrix on a semiconductorchip, known as a Digital Micromirror Device (DMD). The DMD is driven bya digital video or graphic signal in which each digital pixelcorresponds to a single mirror on the DMD. The number of mirrorscorresponds to the resolution of the projected image. These mirrors canbe repositioned rapidly to reflect light either through the lens or ontoa heat sink. Rapidly toggling the mirror between the two orientationsproduces grayscales. In an embodiment, to get color, a rotating colorwheel (with red, green and blue filters) is put between the light sourceand the DMD. Separate signal is delivered for each of the three colors,and each mirror (i.e., each pixel) is switched on and off as the filterrotates each color between the lamp and DMD. In other embodiments,different methods may be used to create a color image, and the presentdisclosure is not limited thereto.

In some embodiment, the light projection module 106 includes a laserlight source. The laser light source can produce a richer, more vibrantcolor palette than conventional light sources. In some embodiments, thelight projection module 106 includes a light-emitting diode (LED) lightsource or an Ultra High Power (UHP) lamp.

The function device 108 may include a camera 108 a, a sensor 108 b andthe like. The function device is used by the apparatus 100 to performspecific operations (for example, taking pictures of the externalenvironment, telemetering with infrared, etc.). In some embodiments, thecamera 108 a may be used to monitor the visual light pattern projectedonto the surface in the external environment, such that the processor104 can control light projection module 106 to adjust the visual lightpattern when a substantial portion of the visual light pattern is notprojected onto the surface. In some examples, a substantial portion ofthe visual light pattern not projected onto the surface refers to that aratio greater than 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80% or 90% of anarea of the visual light pattern cannot be projected onto a surface ofthe environment. In some other examples, a substantial portion of thevisual light pattern not projected onto the surface refers to that anintensity of the visual light pattern is substantially equal to or lowerthan an intensity of environmental lighting such that people aroundcannot observe such visual light pattern. In some other examples, asubstantial portion of the visual light pattern not projected onto thesurface refers to that an essential part of the visual light patternindicating the expected motion of the vehicle (such as a head of anarrow) cannot be projected onto the surface with the other part of thevisual light pattern. In some embodiments, the sensor 108 b may be adistance detection sensor, and is used for detecting a distance betweenthe vehicle and an object in the external environment.

The I/O unit 110 is an interface for data transmission of the apparatus100. In some embodiments, the I/O unit 110 may be used to receive auser's input. For example, the I/O unit 110 may include a touch screen,a button, a voice sensor for receiving the user's voice command, and/oran image capturing device for detecting the user's hand gesture or bodylanguage.

As shown in FIG. 2, the apparatus 100 may be mounted on a vehicle 200,so as to notify an expected motion of the vehicle 200. In someembodiment, the vehicle 200 is an autonomous vehicle. In someembodiments, the apparatus 100 may be integrated within an automotivelighting system, such as with a front light, of the vehicle.

FIG. 3 is a flow chart of a method 300 for notifying an expected motionof a vehicle. In some embodiment, the memory 102 of the apparatus 100shown in FIG. 1 stores instructions corresponding to the method 300, andby reading and executing the instructions, the processor 104 is causedor configured to perform the steps of the method 300, so as to notify anexpected motion of the vehicle 200 shown in FIG. 2.

In Step S302, a trigger signal for controlling the apparatus 100 toenter into a projection mode is generated.

After the apparatus 100 has enter into the projection mode, theapparatus 100 may perform subsequent steps for notifying one or moreexpected motions of the vehicle. It should be noted that, in someembodiments, the projection mode is always activated, and then Step S302may be omitted.

In some embodiments, the trigger signal is generated in response to auser input. For example, a user or driver of the vehicle may input aprojection instruction to the apparatus 100. The projection instructionmay be input by the user triggering a button on the apparatus 100,sending a voice command, or performing a specific action within acapturing area of an image capturing device. As to inputting theprojection instruction by triggering the button, the user may pressrelevant button(s), and then the projection instruction can betransmitted to the processor 104 in form of an electric signal. As toinputting the projection instruction by voice control, the user mayinput a specific voice command (for example, “start projection”, etc.),and then the apparatus 100 can receive the voice command as theprojection instruction through a microphone or the like, which picks upthe voice and further converts the voice command into an electricsignal. The electric signal can be further transmitted to the processor104. As to inputting the projection instruction through the specificaction (for example, a predetermined gesture, a unique hand gesture orbody language, etc.), the user may perform a specific action within acapturing area, and then the image capturing device can take theacquired specific action as the projection instruction, converts theprojection instruction into an electric signal, and sends the signal tothe processor 104. After receiving the signal corresponding theprojection instruction, the processor 104 may generate the triggersignal.

In some embodiments, the trigger signal is generated in response to apedestrian's request. For example, an imaging device mounted on thevehicle is used to detect pedestrians' actions. If a specific gesture ofa pedestrian (for example, a sweeping gesture) is detected, it can bedetermined that the pedestrian requests the vehicle to show its expectedmotions, and thus the trigger signal is generated. In some otherexamples, a microphone is used to detect pedestrians' voices. If aspecific voice of a pedestrian is detected, it can also be determinedthat the pedestrian requests the vehicle to show its expected motions,and thus the trigger signal is generated.

In some embodiments, the trigger signal is generated automatically bythe vehicle using a specific algorithm, which can determine specificconditions where motions of the vehicle should be visually observed fromthe external environment. For example, an imaging device may be used totake a picture or video of the external environment, and the triggersignal is generated when a number of objects in the external environmentis greater than a predetermined number. In some embodiments, a radar maybe used to detect a distance between the vehicle and an object in theexternal environment, the trigger signal is generated when the distanceis smaller than a predetermined distance. The object in the externalenvironment may be a vehicle, a pedestrian, a bicyclist, or the like.

In some embodiments, the trigger signal is generated when a series ofcar honks is received through a microphone or a voice sensor. The seriesof honks may be made by the vehicle equipped with apparatus 100, orother vehicle in the external environment. In some embodiments, thetrigger signal is generated when a message is received from a V2X(vehicle-to-everything) mechanism running on another vehicle orinfrastructure in the external environment, or a software running on amobile device. Both the series of honks and the message may indicatethat the expected motion of the vehicle should be visually observed fromthe external environment.

In step 304, trajectory information indicative of an expected motion ofthe vehicle is obtained.

The trajectory information may include an expected trajectory of thevehicle, and/or an expected turning to be made by the vehicle. It can bereadily appreciated that the trajectory information may include two ormore expected motions of the vehicle in a sequence.

In some embodiments, the trajectory information may be determined basedon one or more parameters of the vehicle, such as a current position ofthe vehicle, a speed of the vehicle, a wheel track of the vehicle,and/or a steering angle of the vehicle. There parameters can becollected through a motion detecting system (e.g. an inertial sensor) ofthe vehicle, and then transmitted to the processor 104.

In some embodiment, the vehicle is an autonomous vehicle, and thetrajectory information may be obtained from a control system of theautonomous vehicle. Generally, autonomous vehicles use a variety oftechnologies (such as radar, laser light, GPS, odometry and computervision) to detect their surroundings, such that the control system canuse these sensory information to plan a trajectory and a turning.

In step S306, a projection control signal is generated according to thetrajectory information, and then is transmitted to the light projectionmodule for controlling the light projection module to project the visuallight pattern onto a surface in the external environment such that theexpected motion of the vehicle can be visually observed from theexternal environment.

Referring to FIG. 1 and FIGS. 4a and 4b , the processor 104 may transmitthe projection control signal to the light projection module 106, so asto control the light projection module 106 to project the visual lightpattern 400 onto a surface in the external environment. The surface inthe external environment may be a ground surface. The visual lightpattern 400 indicates the expected trajectory of the vehicle 200, and/orthe expected turning to be made by the vehicle 200, such that theexpected motion of the vehicle 200 can be visually observed from theexternal environment.

In some embodiments, as shown in FIG. 4 (a), when the vehicle 200 movesforward, the light projection module 106 projects the visual lightpattern 400 onto the ground in the front of the vehicle 200. In someembodiments, as shown in FIG. 4 (b), when the vehicle 200 movesbackward, the light projection module 106 projects the visual lightpattern 400 onto the ground in the back of the vehicle 200.

In some embodiment, the visual light pattern may include at least oneportion identified with a color indicative of urgency of the expectedmotion of the vehicle. For example, as shown in FIG. 5, the visual lightpattern 400 includes a red portion 402 indicating a region the vehicle200 will reach in the 1^(st) second, a yellow portion 404 indicating aregion the vehicle 200 will reach in the 2^(nd) second, and a greenportion 406 indicating a region the vehicle 200 will reach in the 3^(rd)second. In some embodiments, the visual light pattern 400 may include aplurality of portions with different patterns or different color depthsto indicate urgency of the expected motion of the vehicle 200.

In some embodiments, the visual light pattern may include a staticpattern or a dynamic pattern. For example, as shown in FIG. 6, thevisual light pattern 400 includes a plurality of dynamic symbols 408.The plurality of dynamic symbols 408 can be used to indicate theexpected trajectory and driving direction of the vehicle 200. FIG. 7also shows a dynamic light pattern. As shown in FIG. 7, the visual lightpattern includes a left portion 410 and a right portion 412. The leftportion 410 is a static pattern, while the right portion 412 is adynamic patter. The right portion 412 flickers to indicate that thevehicle will turn right soon.

FIG. 8 (a)-(d) illustrate more examples of the visual light pattern. Thevisual light pattern has different shapes to indicate different motionsthat the vehicle will make in the short term. As shown in FIG. 8 (a),the visual light pattern 400 includes a curved trajectory to indicatethe expected turning to be made by the vehicle 200. As shown in FIG. 8(b), the visual light pattern 400 includes a reversing trajectory toindicate that the vehicle 200 will turn around soon. As shown in FIG. 8(c), the visual light pattern 400 includes a forward arrow to indicatethat the vehicle 200 will speed up. As shown in FIG. 8 (d), the visuallight pattern 400 includes a parking sign to indicate that the vehicle200 will stop soon.

Various example of the visual light pattern have been described hereinwith reference to the accompanying drawings. However, persons ofordinary skill in the art will recognize that the visual light patternmay have other features as required without departing from the spirit orscope of the present disclosure.

Referring to FIG. 3, in step S308, the projection control signal may beadjusted according to the visual light pattern monitored by a camera.

In some embodiments, if a manhole cover or an obstacle lies in theexpected trajectory of the vehicle 200, the visual light patternprojected on the ground surface would be incomplete or distorted. Inthis context, the camera 108 a shown in FIG. 1 may be used to monitorthe visual light pattern projected onto the ground surface. If theprocessor 104 determines that the visual light pattern monitored by thecamera 108 a is incomplete or distorted, i.e. a substantial portion ofthe visual light pattern cannot be projected as desired, the processor104 may adjust the projection control signal such that the substantialportion of the visual light pattern can be projected onto the surface.

In some examples, a substantial portion of the visual light pattern notprojected onto the surface refers to that a ratio greater than 10%, 20%,30%, 40%, 50%, 60%, 70%, 80% or 90% of an area of the visual lightpattern cannot be projected onto a surface of the environment. In thiscase, the processor 104 may adjust the projection control signal, suchthat the light projection module 106 is controlled to change the scaleof the visual light pattern or project the visual light pattern ontoother regions of the ground surface.

In some other examples, a substantial portion of the visual lightpattern not projected onto the surface refers to that an intensity ofthe visual light pattern is substantially equal to or lower than anintensity of environmental lighting such that people around cannotobserve such visual light pattern. In this case, the processor 104 mayadjust the projection control signal, such that the light projectionmodule 106 is controlled to increase the intensity of the visual lightpattern or increase the contrast of the visual light pattern.

In some other examples, a substantial portion of the visual lightpattern not projected onto the surface refers to that an essential partof the visual light pattern indicating the expected motion of thevehicle (such as a head of an arrow) cannot be projected onto thesurface with the other part of the visual light pattern. In this case,the processor 104 may adjust the projection control signal, such thatthe light projection module 106 is controlled to change the shape of thevisual light pattern or project the essential part of the visual lightpattern onto other regions of the ground surface.

It should be noted, in some embodiments, even though there is a manholecover or an obstacle lies in the expected trajectory of the vehicle, theportion of the visual light pattern projected on the manhole cover orthe obstacle can be visually observed from the external environment. Inthis case, Step S308 may be omitted.

It should be noted that, the apparatus and methods disclosed in theembodiments of the present disclosure can be implemented by other ways.The aforementioned apparatus and method embodiments are merelyillustrative. For example, flow charts and block diagrams in the figuresshow the architecture and the function operation according to aplurality of apparatus, methods and computer program products disclosedin embodiments of the present disclosure. In this regard, each frame ofthe flow charts or the block diagrams may represent a module, a programsegment, or portion of the program code. The module, the programsegment, or the portion of the program code includes one or moreexecutable instructions for implementing predetermined logical function.It should also be noted that in some alternative embodiments, thefunction described in the block can also occur in a different order asdescribed from the figures. For example, two consecutive blocks mayactually be executed substantially concurrently. Sometimes they may alsobe performed in reverse order, depending on the functionality. It shouldalso be noted that, each block of the block diagrams and/or flow chartblock and block combinations of the block diagrams and/or flow chart canbe implemented by a dedicated hardware-based systems execute thepredetermined function or operation or by a combination of a dedicatedhardware and computer instructions.

If the functions are implemented in the form of software modules andsold or used as a standalone product, the functions can be stored in acomputer readable storage medium. Based on this understanding, thetechnical nature of the present disclosure, part contributing to theprior art, or part of the technical solutions may be embodied in theform of a software product. The computer software product is stored in astorage medium, including several instructions to instruct a computerdevice (may be a personal computer, server, or network equipment) toperform all or part of the steps of various embodiments of the present.The aforementioned storage media include: U disk, removable hard disk,read only memory (ROM), a random access memory (RAM), floppy disk orCD-ROM, which can store a variety of program codes.

Various embodiments have been described herein with reference to theaccompanying drawings. It will, however, be evident that variousmodifications and changes may be made thereto, and additionalembodiments may be implemented, without departing from the broader scopeof the invention as set forth in the claims that follow.

Further, other embodiments will be apparent to those skilled in the artfrom consideration of the specification and practice of one or moreembodiments of the invention disclosed herein. It is intended,therefore, that this disclosure and the examples herein be considered asexemplary only, with a true scope and spirit of the invention beingindicated by the following listing of exemplary claims.

What is claimed is:
 1. An apparatus for notifying an expected motion ofa vehicle, comprising: a light projection module disposed on a body ofthe vehicle and operable to project a visual light pattern to anexternal environment in which the vehicle is driving; and a processorconfigured to: obtain trajectory information indicative of an expectedmotion of the vehicle; and generate, according to the trajectoryinformation, and transmit to the light projection module a projectioncontrol signal for controlling the light projection module to projectthe visual light pattern onto a surface in the external environment suchthat the expected motion of the vehicle can be visually observed fromthe external environment.
 2. The apparatus of claim 1, wherein the lightprojection module comprises a laser light source, a light-emitting diode(LED) light source, or an Ultra High Power (UHP) lamp.
 3. The apparatusof claim 1, wherein the trajectory information comprises: an expectedtrajectory of the vehicle, and/or an expected turning to be made by thevehicle.
 4. The apparatus of claim 1, wherein the processor is furtherconfigured to generate a trigger signal for controlling the apparatus toenter into a projection mode, and in the projection mode, the processoris configured to obtain the trajectory information and generate theprojection control signal.
 5. The apparatus of claim 4, wherein thetrigger signal is generated in response to a user input.
 6. Theapparatus of claim 4, wherein the trigger signal is generated when adistance between the vehicle and an object in the external environmentis smaller than a predetermined distance, or when a number of objects inthe external environment is greater than a predetermined number, and theobject in the external environment is a vehicle, a pedestrian or abicyclist.
 7. The apparatus of claim 1, wherein the visual light patterncomprises a static pattern and/or a dynamic pattern.
 8. The apparatus ofclaim 1, wherein the visual light pattern comprises at least one portionidentified with a color indicative of urgency of the expected motion ofthe vehicle.
 9. The apparatus of claim 1, further comprising: a camerafor monitoring the visual light pattern projected onto the surface; andwherein the processor is further configured to adjust the projectioncontrol signal according to the visual light pattern monitored by thecamera.
 10. The apparatus of claim 9, wherein the processor is furtherconfigured to adjust the projection control signal according to thevisual light pattern monitored by the camera such that a substantialportion of the visual light pattern can be projected onto the surface.11. The apparatus of claim 1, wherein the surface in the externalenvironment is a ground surface.
 12. A vehicle, comprising: a body; alight projection module disposed on the body of the vehicle and operableto project a visual light pattern onto an external environment in whichthe vehicle is driving; and a processor configured to: obtain trajectoryinformation indicative of an expected motion of the vehicle; andgenerate, according to the trajectory information, a projection controlsignal for controlling the light projection module to project the visuallight pattern onto a surface in the external environment such that theexpected motion of the vehicle can be visually observed from theexternal environment.
 13. The vehicle of claim 12, wherein the vehicleis an autonomous vehicle.
 14. A method for notifying an expected motionof a vehicle, comprising: obtaining trajectory information indicative ofan expected motion of the vehicle; and generating, according to thetrajectory information, and transmitting to the light projection modulea projection control signal for controlling a light projection module toproject a visual light pattern onto a surface in an external environmentin which the vehicle is driving such that the expected motion of thevehicle can be visually observed from the external environment.
 15. Themethod of claim 14, wherein the trajectory information comprises: anexpected trajectory of the vehicle, and/or an expected turning to bemade by the vehicle.
 16. The method of claim 14, further comprising:generating a trigger signal for controlling the vehicle to enter into aprojection mode, wherein the trajectory information is obtained and theprojection control signal is generated in the projection mode.
 17. Themethod of claim 16, wherein the trigger signal is generated in responseto a user input.
 18. The method of claim 16, wherein the trigger signalis generated when a distance between the vehicle and an object in theexternal environment is smaller than a predetermined distance, or when anumber of objects in the external environment is greater than apredetermined number, and the object in the external environment is avehicle, a pedestrian or a bicyclist.
 19. The method of claim 14,wherein the visual light pattern comprises a static pattern and/or adynamic pattern, and/or the visual light pattern comprises at least oneportion identified with a color indicative of urgency of the expectedmotion of the vehicle.
 20. The method of claim 14, further comprising:adjusting the projection control signal according to the visual lightpattern monitored by a camera such that a substantial portion of thevisual light pattern can be projected onto the surface.